Method for correcting gyroscope demodulation phase drift

ABSTRACT

A gyroscopic sensor unit detects a phase drift between a demodulated output signal and demodulation signal during output of a quadrature test signal. A delay calculator detects the phase drift based on changes in the demodulated output signal during application of the quadrature test signal. A delay compensation circuit compensates for the phase drift by delaying the demodulation signal by the phase drift value.

BACKGROUND Technical Field

The present disclosure generally relates to gyroscopes. The presentdisclosure relates more particularly to detecting phase drift ingyroscope demodulation.

Description of the Related Art

It is often beneficial to sense the motion of an electronic device forvehicle. For this reason, many vehicles and electronic devices includeinertial sensors. Inertial sensors can include accelerometers andgyroscopes. Accelerometers can detect linear motion. Gyroscopes candetect rotational motion.

Detecting a rotation rate of a vehicle or electronic device with agyroscope can be quite complicated. This is due, in part, to the factthat complex signals are utilized to excite a resonating mass of thegyroscope enough to sense the rotational motion of the resonating mass.It can be quite difficult to accurately extract the rotational rate fromthe raw output signal of the gyroscope.

One particularly complicating factor is the quadrature component of anoutput signal. The raw output of a gyroscope corresponds to oscillationof a resonating mass in a sense direction perpendicular to theexcitation direction of the resonating mass. While rotational motionwill cause oscillation of the resonating mass of the sense direction,the quadrature effect will also contribute to oscillation of theresonating mass of the sense direction. However, the quadraturecomponent of the raw output signal is spurious and does not representrotational motion.

Gyroscopes have leveraged the fact that the quadrature component of theraw output signal is typically in phase with the excitation or drivingsignal, while the rotational component of the raw output signal istypically 90° out of phase with the excitation or driving signal.Accordingly, the rotational component of the raw output signal the canbe obtained by extracting the component of the raw output signal that is90° out of phase with the excitation or driving signal. However, ifthere is phase drift associated with the raw output signal, thenextracting the component of the output signal that is 90° out of phasewith the driving signal will not accurately represent the rotationalrate.

BRIEF SUMMARY

Embodiments of the present disclosure provide a sensor unit including agyroscope. The sensor unit effectively and efficiently identifies phasedrift between the raw output signal of the gyroscope and the drivesignal of the gyroscope. This is accomplished by applying a test voltageto quadrature compensation electrodes adjacent to the resonator mass ofthe gyroscope and detecting changes in a demodulated output signal ofthe gyroscope while applying the test voltage. After the phase drift hasbeen identified, the phase drift can be taken into account in generatingthe demodulated output signal. The demodulated signal will thenaccurately represent the rotational component of the raw output signal.

The demodulated signal is generated by demodulating the raw outputsignal with the drive signal. The demodulation process extracts theportion of the raw output signal that is 90 degrees out of phase withthe drive signal. When a phase drift is detected while applying the testvoltage, then a delay compensation circuit inserts a delay into thedrive signal before demodulation occurs. The added delay compensates forthe phase drift, effectively eliminating the negative effects of thephase drift.

The test signal includes a first phase and a second phase. In the firstphase the test signal has a first polarity. In the second phase, thetest signal has a second polarity. The sensor unit detects thedifference in the demodulated output signal between the first phase andthe second phase of the test signal. The difference is indicative of thephase drift.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

FIG. 1 is a block diagram of an electronic device including a sensorunit having a gyroscope, according to some embodiments.

FIGS. 2A and 2B are simplified illustrations of a resonator mass of agyroscope, according to some embodiments.

FIG. 3 is a graph illustrating signals associated with a gyroscope,according to some embodiments.

FIG. 4 is a graph representing a demodulation plane associated withdrive and output signals of a gyroscope, according to some embodiments.

FIGS. 5A and 5B are graphs illustrating a demodulation plane associatedwith drive and output signals of the gyroscope during a test period ofthe gyroscope, according to some embodiments.

FIG. 6 is a graph illustrating a test signal of the gyroscope, accordingto some embodiments.

FIG. 7 is a block diagram illustrating aspects of an output operation ofa sensor unit, according to some embodiments.

FIG. 8 is an illustration of a portion of a gyroscope, according to someembodiments.

FIG. 9 is an illustration of a portion of a gyroscope, according to someembodiments.

FIG. 10 is an illustration of a portion of a gyroscope, according tosome embodiments.

FIG. 11 is a block diagram illustrating a sensor unit including agyroscope, according to some embodiments.

FIG. 12 is a flow diagram of a method for operating a gyroscope,according to some embodiments.

DETAILED DESCRIPTION

In the following description, certain specific details are set forth inorder to provide a thorough understanding of various disclosedembodiments. However, one skilled in the relevant art will recognizethat embodiments may be practiced without one or more of these specificdetails, or with other methods, components, materials, etc. In otherinstances, well-known structures and processes associated withgyroscopes and gyroscope signal process have not been shown or describedin detail, to avoid unnecessarily obscuring descriptions of theembodiments. Further, well-known components and circuits associated withgyroscopic sensor units have not been shown or described in detail, toavoid unnecessarily obscuring descriptions of the embodiments.

Unless the context requires otherwise, throughout the specification andclaims which follow, the word “comprise” and variations thereof, suchas, “comprises” and “comprising” are to be construed in an open,inclusive sense, that is as “including, but not limited to.” Further,the terms “first,” “second,” and similar indicators of sequence are tobe construed as interchangeable unless the context clearly dictatesotherwise.

Reference throughout this specification to “one embodiment” or “anembodiment” means that a particular feature, structure or characteristicdescribed in connection with the embodiment is included in at least oneembodiment. Thus, the appearances of the phrases “in one embodiment” or“in an embodiment” in various places throughout this specification arenot necessarily all referring to the same embodiment. Furthermore, theparticular features, structures, or characteristics may be combined inany suitable manner in one or more embodiments.

As used in this specification and the appended claims, the singularforms “a,” “an,” and “the” include plural referents unless the contentclearly dictates otherwise. It should also be noted that the term “or”is generally employed in its broadest sense, that is as meaning “and/or”unless the content clearly dictates otherwise.

FIG. 1 is a block diagram of an electronic device 100, according to someembodiments. The electronic device 100 includes a sensor unit 101. Thesensor unit 101 includes a gyroscope 102. As will be set forth in moredetail below, the sensor unit 101 identifies phase drift associated withan output signal of the gyroscope 102 and compensates for the phasedrift in order to provide an accurate indication of a rotational rateapplied to the electronic device 100.

The electronic device 100 can include a vehicle, such as an automobile,an aircraft, a boat, or other types of vehicles. It is often verybeneficial to know the training rate of the vehicle about one or moreaxes of rotation. In vehicles, these axes of rotation may correspond toyaw, roll, and pitch. The gyroscope 102 may be utilized to detect therotational rate of the vehicle about one or more of these axes.

The electronic device 100 can include a personal electronic device suchas a smart phone, a smartwatch, smart glasses, a gaming device, a gamingcontroller, a tablet, a laptop computer, or other types of personalelectronic devices. The gyroscope 102 may be utilized to detect therotational rate of the electronic device 100 about one or morerotational axes. The electronic device 100 can include industrialequipment or other types of devices that may benefit from detectingrotational rates.

The gyroscope 102 may correspond to a microelectromechanical systems(MEMS) gyroscope. The mems gyroscope 102 can include one or more movablemasses defined from and coupled to a silicon substrate by one or morespring door hinge members. The mems gyroscope may also include variouselectrodes interleaved with the movable mass. Embodiments describedherein are directed primarily to electro-capacitive mems gyroscopes.Nevertheless, other types of gyroscopes can be used in accordance withprinciples of the present disclosure without departing from the scope ofthe present disclosure.

The gyroscope 102 includes a resonator mass 104, drive electrodes 106,and sense electrodes 108. As shown in FIG. 1 , the resonator mass 104,the drive electrodes 106, and the sense electrodes 108 are shown asmaking up the gyroscope 102, while other components associated withgenerating signals, sensing signals, and processing signals are shown asexternal to the gyroscope 102. However, in practice, the gyroscope 102may be considered as including the various other components of thesensor unit 101 that will be described in greater detail below and thatare shown as being external to the gyroscope 102. The sensor unit 101may, as a whole, be considered as a gyroscope.

The resonator mass 104 may include a mass suspended above or otherwisemovably coupled to a substrate. The resonator mass 104 is configured tooscillate in at least two directions. A first direction of oscillationis known as a drive direction and corresponds to a first axis. A seconddirection of oscillation is known as a sense direction and correspondsto a second axis substantially perpendicular to the first axis.Oscillation of the resonator mass along the sense axis or sensedirection is indicative of rotation of the resonator mass 104 about athird axis substantially perpendicular to the first axis and the secondaxis.

The resonator mass 104 may be coupled to a fixed substrate by springmembers that allow the resonator mass to move back and forth along thedrive axis. The resonator mass 104 may also be coupled to the fixedsubstrate by spring members that allow the resonator mass to move backand forth along the sense axis. While FIG. 1 shows the resonator mass104 as a single mass, in practice, the resonator mass 104 may includemultiple masses. For example, a first mass may be coupled to a secondmass by spring members. The first mass may be driven to oscillate alongthe drive axis. Rotation of the electronic device 100 around therotation axis (third axis) may cause the second mass to oscillate alongthe sense axis (second axis). Various configurations of a resonator mass104 or multiple resonator masses 104 can be utilized without departingfrom the scope of the present disclosure.

The drive electrodes 106 are utilized to drive the resonator mass 104 inthe second direction. The drive electrodes 106 may correspond to aconductive mass with a comb shape. The fingers of the comb-shape may beinterleaved with corresponding comb fingers of the resonator mass 104.If a voltage is applied to the resonator mass 104, then applying aperiodic voltage to the drive electrodes can drive oscillation of theresonator mass 104 along the drive axis. Various other configurations ofdrive electrodes 106 can be utilized without departing from the scope ofthe present disclosure.

The sense electrodes 108 are utilized to sense oscillation of theresonator mass 104 along the sense axis. The sense electrodes 108 maycorrespond to a conductive mass of the comb shape. The fingers of thecomb shape may be interleaved with corresponding comb fingers of theresonator mass 104. Various other configurations of sense electrodes 108can be utilized without departing from the scope of the presentdisclosure

As described previously, if the electronic device 100 and,correspondingly, the resonator mass 104, is rotated around the thirdrotation axis while the resonator mass 104 is oscillating along thefirst axis, then the resonator mass 104 will be forced to oscillatealong the second axis by the Coriolis force that results from therotation around the rotation axis and the oscillation along the firstaxis. Accordingly, the oscillation of the resonator mass 104 along thesense axis is indicative of the rotation of the resonator mass 104around the rotation axis.

The sensor unit 101 includes a drive voltage supply 112. The drivevoltage supply 112 applies a drive voltage to the drive electrodes 106.The drive voltage may correspond to an AC voltage having a selectedamplitude and frequency. The drive voltage may be a sinusoidal voltage,a square wave voltage, a sawtooth voltage, or other types of AC voltagewaveforms.

In the example of a constant rate gyroscope, the oscillation along thesense axis resulting from the Coriolis force will have the samefrequency as the oscillation of the drive signal. However, the amplitudeof the oscillation along the sense direction is indicative of themagnitude of the rotational rate around the third axis. The amplitude ofthe oscillation is indicated by the voltage that develops at the senseelectrodes 108 by capacitive interaction with the resonator mass 104.However, as set forth previously, other sensing configurations can beutilized without departing from the scope of the present disclosure.

The signal output by the sense electrodes 108 corresponds to the rawoutput signal of the gyroscope 102. However, the raw output signal ofthe gyroscope 102 may not, by itself, accurately indicate the rotationalrate around the third axis. This is because of a quadrature effect thatdevelops at the resonator mass 104. In particular, when the resonatormass 104 is driven to oscillate along the first axis by the drivevoltage applied to the drive electrodes 106, the resonator mass 104 mayalso begin to oscillate along the sense axis even if there is norotation around the rotational axis. Accordingly, the oscillation due tothe quadrature affect may be considered a spurious oscillation, or thecomponent of the raw output signal that is based on the quadratureaffect may be considered a spurious signal. The raw output signal may bea current or may be a voltage, depending on a selected configuration ofthe gyroscope 102.

In some cases the component of the raw output signal due to thequadrature affect may be much larger than the component of the rawoutput signal due to the rotation of the electronic device 100 aroundthe rotational axis. In fact, the component of the raw output signalfrom the quadrature affect may be many times larger than the componentof the raw output signal from the Coriolis force.

The sensor unit 101 utilizes the demodulator 120 in order to extract theCoriolis component from the raw output signal. As the raw output signalis made up of the quadrature component and the Coriolis component, ifthe Coriolis component can be extracted from the raw output signal, thena final output signal can be generated that corresponds only to theCoriolis component of the raw output signal. The demodulator 120extracts the Coriolis component from the raw output signal and generatesa final output signal that indicates the rotational rate around therotation axis. As used herein, the terms “Coriolis component” and“rotational component” may be used interchangeably.

The demodulator 120 utilizes the fact that the Coriolis component of theraw output signal will be 90° out of phase with the quadrature componentof the raw output signal in order to separate the Coriolis componentfrom the quadrature component. Furthermore, absent any collective phasedrift in the raw output signal, the quadrature component will be inphase with the drive signal while the Coriolis component is 90° out ofphase with the drive signal. Accordingly, the demodulator 120 receivesthe drive signal and the raw output signal and performs demodulation ofthe raw output signal based on the drive signal. In particular, thedemodulator 120 outputs only that portion of the raw output signal thatis 90° out of phase with the drive signal. If there is no phase driftbetween the raw output signal and the drive signal, then the output ofthe demodulator 120 will represent only the Coriolis portion of the rawoutput signal.

Nevertheless, in some cases, there is a phase drift between the drivesignal and the raw output signal. More particularly, the phase drift mayoccur between the raw output signal and a demodulation signal that isbased on the drive signal. The demodulation signal may have a same phaseas the drive signal, or may initially have a same phase as the drivesignal. The phase drift corresponds to an angle φ by which thequadrature component is out of phase with the demodulation signal. TheCoriolis component will be out of phase by 90°±the value of φ, dependingon the direction of the phase drift. Even a very small phase drift canresult in the demodulator 120 generating a final output signal that isvery inaccurate. Phase drift can result from variations in temperature,mechanical stress, or variations during processing of the sensor unit101. The demodulation signal is a drive reference signal. As usedherein, “demodulation signal” and “drive reference signal” may be usedinterchangeably.

The sensor unit 101 utilizes quadrature compensation electrodes 110, aquadrature compensation driver 114, a delay calculator 116, and a delaycompensation circuit 118 in order to identify and compensate for phasedrift. In one example, the quadrature compensation electrodes 110 arepositioned adjacent to the resonator mass 104. The quadraturecompensation electrodes 110 can be used in both cases of in-plane senseaxis (yaw) or out of plane sense axis (pitch and roll) bases on selecteddesign characteristics. The quadrature compensation electrodes 110 canbe utilized to drive motion of the resonator mass 104 along the senseaxis in order to compensate for or cancel out the natural quadraturethat develops from driving the resonator mass 104 along the drive axis.Nevertheless, principles of the present disclosure provide a potentiallymore effective way to utilize the quadrature compensation electrodes 110in order to identify and compensate for phase drift in the raw outputsignal.

The quadrature compensation driver 114 is configured to apply a testsignal to the quadrature compensation electrodes 110. The quadraturecompensation driver 114 applies a test signal during a testing periodthe delay calculator 116 measures changes in the output of thedemodulator 120 during the testing period. The delay calculator 116calculates the value of phase drift between the raw output signal andthe demodulation signal based on changes in the output of thedemodulator 120 during the testing period.

In some embodiments, the testing period has two phases. During the firstphase, the test signal has a first polarity. During the second phase,the test signal switches to a second polarity opposite the firstpolarity. The change in the output of the output of the demodulator 120between the two phases of the test period is indicative of the magnitudeof the phase drift φ. The delay calculator 116 calculates the value ofthe phase drift φ based, in part, on the change in the output of thedemodulator 120 between the two phases of the test. Further detailsregarding the calculation of the phase drift φ are provided below.

The delay calculator 116 passes the phase delay value φ to the delaycompensation circuit 118. The delay compensation circuit 118 alsoreceives the demodulation signal that is based on the drive signal. Thedelay compensation circuit 118 delays the demodulation signal by thevalue of the phase delay φ. The delay compensation circuit 118 passesthe delay drive signal to the demodulator 120. While FIG. 1 illustratesthe same signal being passed from the drive voltage supply to the delaycompensation circuit and the drive electrodes, in practice, the drivevoltage supply may supply the drive signal to the drive electrodes 106and may supply the demodulation signal that is based on the drive signalto the delay compensation circuit.

Because the demodulation signal is now delayed by the same value φ as isthe raw output signal, the Coriolis component of the raw output signalis 90° out of phase with the delayed demodulation signal. When thedemodulator 120 performs demodulation on the delayed demodulation signaland the raw output signal, the demodulator 120 outputs the true Corioliscomponent of the raw output signal. Accordingly, the demodulator 120outputs a signal that accurately indicates the rotational rate of theelectronic device 100 around the rotational axis.

FIG. 2A is a simplified representation of the resonator mass 104 of thegyroscope 102, in accordance with some embodiments. The resonator massis able to oscillate in the X direction by a spring represented here bythe spring Kx. Oscillation of the resonator mass 104 in the X directionis dampened by a resistance Rx. The resonator mass 104 is able tooscillate in the Y direction by a spring represented here by the springKy. Oscillation of the resonator mass 104 in the Y direction is dampenedby a resistance Ry. In practice, the resonator mass 104 may includemasses coupled together in various configurations.

The X-axis corresponds to the drive axis of the resonator mass 104. They-axis corresponds to the sense axis of the resonator mass 104. Thez-axis corresponds to the rotational axis. Accordingly, motion of theresonator mass 104 along the sense axis Y is indicative of therotational rate of the resonator mass about the rotational axis Z.

In FIG. 2A, the drive electrodes (see FIG. 1 ) drive the resonator mass104 to oscillate in the X direction. In FIG. 2A, there is no oscillationalong the y-axis in FIG. 2A. Accordingly, there is no rotational ratearound the rotational axis Z and there is no quadrature motion along they-axis. Unfortunately, in practice there is typically a quadraturecomponent along the sense axis anytime there is motion along the driveaxis.

FIG. 2B illustrates both motion along the drive axis and motion alongthe sense axis. This is indicated by the diagonal arrows that havecomponents in both the X and Y direction. In the example FIG. 2B, thereis no rotational motion around the z-axis. Accordingly, all of themotion on the y-axis is quadrature motion. FIGS. 2A and 2B are providedto illustrate basic concepts of drive motion and quadrature motion.

FIG. 3 is a graph 300 illustrating various signals output by thegyroscope 102, in accordance with some embodiments. The graph 300includes the raw output signal 302 of a gyroscope 102. The raw outputsignal 302 is sinusoidal in nature based on the capacitive outputsignals generated by sinusoidal motion of the resonator mass 104relative to sense electrodes 108.

FIG. 3 also illustrates the quadrature component 304 of the raw outputsignal 302. If there is no phase drift between the demodulation signaland the raw output signal, the quadrature component 304 of the rawoutput signal 302 will be in phase with the demodulation signal.

FIG. 3 also illustrates the Coriolis component 306 of the raw outputsignal 302 of the gyroscope 102. The Coriolis component 306 is thatportion of the raw output signal that is generated by the Coriolis forcefrom rotation of the electronic device 100 about the rotational axiswhile the resonator mass 104 is driven to oscillate along the driveaxis. If there is no phase drift, the Coriolis component 306 will be 90°out of phase with the demodulation signal.

The raw output signal 302 is the sum of the quadrature component 304 andthe Coriolis component 306. In practice, the amplitude of the quadraturecomponent 304 may be many times larger than the amplitude of theCoriolis component 306. Accordingly, it is highly beneficial toeffectively demodulator the Coriolis component from the quadraturecomponent using the demodulation signal as a phase reference.

FIG. 4 is a graph of the demodulation plane 400 associated with the rawoutput signal and the demodulation signal or drive signal of a gyroscope102, in accordance with some embodiments. The demodulation plane 400 hastwo axes. The first axis is the parallel axis extending in thehorizontal direction in FIG. 4 and annotated with the parallel symbol“=”. The second axis is the perpendicular axis extending in the verticaldirection in FIG. 4 and annotated with the perpendicular symbol “⊥”. Inthe demodulation plane 400, the parallel (horizontal) axis is thecomponent of the raw output signal that is in phase with thedemodulation signal. The perpendicular (vertical) axis is 90° out ofphase with the demodulation signal.

FIG. 4 illustrates the quadrature component Q and the rotationalcomponent Ω of the raw output signal from the gyroscope 102. Thequadrature component Q and the raw output signal Ω are 90° out of phasewith each other. As described previously, if there is no phase driftthen the quadrature component Q will align with the perpendicular axis.If there is no phase drift, then the rotational component Ω will alignwith the parallel axis. The demodulator 120 of the sensor unit 101outputs the parallel (horizontal) component of the raw output signal asthe final output signal of the sensor unit 101. Accordingly, if there isno phase drift then the output of the demodulator will correspondentirely to the rotational component of the raw output signal.

In FIG. 4 , there is a phase drift cp. As can be seen in FIG. 4 , thequadrature component Q is offset from the perpendicular axis by thephase drift angle φ. The rotational component Ω is offset from theparallel axis by the phase drift angle φ. In this situation, when thedemodulator 120 outputs the parallel component, the parallel componentwill not accurately represent the rotational component Ω. While FIG. 4illustrates the quadrature component Q and the rotational component Ω asbeing substantially equal in magnitude, in practice, the magnitude ofthe quadrature component Q may be many times greater than the magnitudeof rotational component Ω. Accordingly, even a small phase drift angle φwill result in a very inaccurate representation of the rotational orCoriolis component Ω of the raw output signal. As used herein, the terms“phase drift” and “phase delay” may be used interchangeably.

FIGS. 5A and 5B are representations of the demodulation plane 500associated with a raw output signal during application of a test signal,in accordance with some embodiments. The description of FIGS. 5A and 5Bwill begin with reference to FIG. 1 . FIG. 5A illustrates thedemodulation plane during a first phase of a testing period in which thetest signal is applied to quadrature compensation electrodes 110. FIG.5B illustrates the demodulation plane during a second phase of thetesting period in which the test signal is applied to the quadraturecompensation electrodes 110.

During the first phase of the testing period, the quadraturecompensation driver 114 applies a test voltage −Vt, increasing thevoltage difference with respect to the rotor mass. During application ofthe first phase of the test voltage the quadrature component of the rawoutput signal will have a natural quadrature component Qnat and anegative quadrature test component −Qtest. In practice, this results ina total quadrature component that is less than the natural quadraturecomponent Qnat. FIG. 5A also illustrates the rotational component Ω ofthe raw output signal of the gyroscope 102. In FIG. 5A there is a phasedrift angle φ for each of the components of the raw output signal. Theoutput I_(PH1) of the demodulator 120 in phase 1 of the testing periodis the sum of the parallel or horizontal components of the naturalquadrature component Qnat, the negative test quadrature component Qtest,and the Coriolis component.

During the second phase of the testing period, the quadraturecompensation driver 114 applies a test voltage Vt., reducing the voltagedifference with respect to the rotor mass. During application of thesecond phase of the test voltage, the quadrature component of the rawoutput signal will have the natural quadrature Qnat component and apositive quadrature test component. In practice, this results in a totalquadrature component that is greater than the natural quadraturecomponent Qnat. The output I_(PH2) of the demodulator 120 and the secondphase of the testing period is the parallel or horizontal components ofthe natural quadrature component Qnat, the positive test quadraturecomponent Qtest, and the Coriolis component.

The delay calculator 116 receives the output of the demodulator 120during the first and second phases of the testing period and calculatesthe phase drift angle φ. The delay calculator 116 calculates the angle φbased on the change in the output of the demodulator 120 between thefirst and second phases of the testing period and based on the magnitudeof the quadrature test component. I_(PH2) is given by the followingrelationship:

I _(PH2)=Qnat·sin(φ)+Q _(test)·sin(φ)+Ω·cos(φ).

I_(PH1) is given by the following relationship:

I _(PH1)=Qnat sin(φ)—Q _(test)·sin(φ)+Ω·cos(φ).

The difference in the output of the demodulator between the first andsecond phases is given by the following relationship:

I _(PH2) −I _(PH1)=2Q _(test)·sin(φ).

Solving for sin(φ) gives the following:

sin(φ)=(I _(PH2) −I _(PH1))/(2Q _(test)).

Because the phase drift angle φ is very small (φ<<1°), the small anglerelationship can be used:

sin(φ)=φ.

Incorporating the small angle approximation into the equation aboveyields the following relationship for the phase drift angle φ:

φ=(I _(PH2) −I _(PH1))/(2Q _(test)).

As set forth above, the phase drift angle φ can be calculated based onthe difference in the output of the demodulator 120 between the firstand second phases of the testing period and on the magnitude of the testcomponent of the quadrature component. The phase drift angle φ canchange based on temperature, process, mechanical stress, and otherfactors. However, the delay calculator 116, in connection with thequadrature compensation driver 114, can quickly and accurately determinethe phase drift angle φ at any time with little or no interruption tothe operation of the gyroscope 102.

Furthermore, a relatively small number of compensation electrodes 110can be utilized to identify the phase drift angle φ. In the scheme inwhich compensation electrodes are utilized to largely eliminate thequadrature component of the raw sensor signal, a very large number ofcompensation electrodes may be utilized. However, a comparatively smallnumber compensation electrodes 110 can be utilized to identify the phasedrift angle φ. This can save an enormous amount of area in manufacturingthe gyroscope 104.

In another example, a more accurate estimation of the amplitude of Qtestcan be obtained by using the information on the perpendicular axis.While Qtest may normally be quite stable, such an estimation may bebeneficial in case of reduction of second order effects. During thefirst phase of the testing period, the total signal Q_(PH1) on theperpendicular axis is given by the following formula:

Q _(PH1) =−Q _(test)·cos( )+Ω·sin(φ)+Qnat·cos(φ).

During the second phase of the testing period, the total signal Q_(PH2)on the perpendicular axis is given by the following formula:

Q _(PH2) =Q _(test)·cos(φ)+Ω·sin(φ)+Qnat·cos(φ)

Subtracting Q_(PH1) from Q_(PH2) gives:

Q _(PH2) −Q _(PH1)=2Q _(test)·cos(φ).

Because φ is typically a very small angle, Qtest can be approximated inthe following manner:

Q _(test)·cos(φ)≈Q _(test).

Qtest can then be estimated in the following manner:

Q _(test)=(Q _(PH2) −Q _(PH2))/2.

FIG. 6 is a graph illustrating a test signal 600 applied by thequadrature compensation driver 114 to the quadrature compensationelectrodes 110. At time TO the first phase of the testing period beginsby applying the test voltage with a negative polarity −Vt to thecompensation electrodes 110. At time T1 the second phase of the testingperiod begins by switching a polarity of the test signal 600 to apositive polarity Vt. during the first phase, a negative quadrature testvoltage −Qtest is inserted into the raw output signal of the gyroscope102. During the second phase a positive quadrature test component Qtestis inserted into the raw output signal the gyroscope 102. As set forthabove, the delay calculator 116 is able to measure the difference in theoutput of the demodulator between the first and second phases of thetesting and calculate the phase drift angle by dividing the differenceby 2*Qtest.

FIG. 7 is a block diagram of a portion of a sensor unit 101, inaccordance with some embodiments. The sensor unit 101 includes ademodulator 120. The demodulator 120 receives a raw output signal from agyroscope 102. The demodulator 120 also receives a demodulation signalfrom a delay compensation circuit 118. The demodulation signal cancorrespond to the drive signal. The demodulator 120 provides ademodulated signal to an output block 124. The output block may performsome signal processing on the demodulated signal. The output blockprovides the demodulated signal to the delay calculator 116. The delaycalculator 116 calculates the phase drift angle φ in the mannerdescribed above. The delay calculator 116 provides the phase drift anglevalue φ to the delay compensation circuit 118. The delay compensationcircuit 118 receives the demodulation signal, adds in a phase delayequal to the phase drift angle value φ, and provides the delayeddemodulation signal to the demodulator 120. The output of thedemodulator 120 now corresponds to the Coriolis component of the rawoutput signal.

FIG. 8 is an illustration of a portion of a resonator mass 104 of thegyroscope 102, in accordance with some embodiments. FIG. 8 alsoillustrates compensation electrodes 110 a and 110 b positioned in gapsin the resonator mass 104. The compensation electrodes 110 a and 110 bare fixed in place. The resonator mass 104 is movable.

In the example of FIG. 8 the resonator mass 104 is driven to oscillatealong the X axis by drive electrodes 106 (not shown) adjacent to anotherportion of the resonator mass 104 not shown in FIG. 8 . The resonatormass 104 has thick portions that are closer to the compensationelectrodes 110 a and 110 b and thinner portions that are further awayfrom the quadrature compensation electrodes 110 a and 110 b. As theresonator mass 104 moves back and forth along the X axis, the portionsof the resonator mass 104 the amount of area of the thick portions alsothat is directly between two quadrature compensation electrodes 110 and110 b also changes. As the resonator mass moves to the left along the Xaxis, the amount of area of the thick portions facing quadraturecompensation electrodes 110 a and 110 b decreases. As the resonator massmoves to the right along the X axis, the amount of area of the thickportions facing quadrature compensation electrodes 110 a and 110 bincreases.

By applying a voltage to the resonator mass 104, and then applying avoltage between each pair of electrodes 110 a and 110 b, a quadraturecompensation force is generated. In one example, the resonator mass 104receives a voltage of 10 V. During the first phase of the test, theelectrodes 110 a receive 4 V and the electrodes 110 b receives 6 V.Because there is a higher voltage difference between the mass and theelectrodes 110 a then between the mass 104 and the electrodes 110 b, anet electrostatic force is applied to the mass 104 in the positive Ydirection. During the second phase of the test period, the polaritybetween the electrodes 110 a and 110 b is switched so that theelectrodes 110 a receives 6 V and the electrodes 110 b receive 4 V. Theresult is that a net electrostatic force is applied to the mass 104 inthe negative Y direction. It should be noted that because the quadraturetest force depends on the horizontal position of the resonator mass 104,the quadrature test force is in phase with the drive signal. Othervoltage schemes can be applied to generate a quadrature test forcewithout departing from the scope of the present disclosure.

FIG. 9 is a top view of a portion of a resonator mass 104 of a gyroscope102, in accordance with some embodiments. FIG. 9 also illustratescompensation electrodes 110 a and 110 b positioned in gaps in theresonator mass 104. The compensation electrodes 110 a and 110 b arefixed in place. The resonator mass 104 is movable. FIG. 9 is an exampleof in-plane quadrature compensation electrodes 110 a and 110 b.

In the example of FIG. 9 the resonator mass 104 is driven to oscillatealong the drive axis by drive electrodes 106 (not shown) adjacent toanother portion of the resonator mass 104 not shown in FIG. 9 . Byapplying a voltage to the resonator mass 104, and then applying avoltage between the sets of electrodes 110 a and 110 b, a quadraturecompensation force is generated. In one example, the resonator mass 104receives a voltage of 10 V. During the first phase of the test, theelectrodes 110 a receive 4 V and the electrodes 110 b receives 6 V.During the second phase of the test period, the polarity between theelectrodes 110 a and 110 b is switched so that the electrodes 110 areceives 6 V and the electrodes 110 b receive 4 V. Due to the geometryof the resonator mass relative to the test electrodes, a netelectrostatic force is generated in different directions during the twotest phases. Other voltage schemes can be applied to generate aquadrature test force without departing from the scope of the presentdisclosure.

FIG. 10 is a cross-sectional view a portion of a gyroscope 102, inaccordance with some embodiments. FIG. 10 also illustrates compensationelectrodes 110 a and 110 b positioned below the resonator mass on asubstrate 149. The compensation electrodes 110 a and 110 b are fixed inplace. The resonator mass 104 is movable. FIG. 10 is an example ofout-of-plane quadrature compensation electrodes 110 a and 110 b.

In the example of FIG. 10 the resonator mass 104 is driven to oscillatealong the drive axis by drive electrodes 106 (not shown) adjacent toanother portion of the resonator mass 104 not shown in FIG. 10 . Byapplying a voltage to the resonator mass 104, and then applying avoltage between the sets of electrodes 110 a and 110 b, a quadraturecompensation force is generated. In one example, the resonator mass 104receives a voltage of 10 V. During the first phase of the test, theelectrodes 110 a receive 4 V and the electrodes 110 b receives 6 V.During the second phase of the test period, the polarity between theelectrodes 110 a and 110 b is switched so that the electrodes 110 areceives 6 V and the electrodes 110 b receive 4 V. Due to the placementof the test electrodes 110 a and 110 b relative to the shape of theresonator mass 104, a net electrostatic force is generated in differentdirections during the two test phases. Other voltage schemes can beapplied to generate a quadrature test force without departing from thescope of the present disclosure.

FIG. 11 is a schematic diagram of a sensor unit 101, in accordance withsome embodiments. The sensor unit 101 includes a driving MEMS/ASIC 150and a sense MEMS/ASIC 152. The MEMS/ASIC 150 includes a drive voltagesupply 112. The drive voltage supply 112 applies a drive signal to driveelectrodes 106. The drive voltage supply 112 may include a phase lockedloop for controlling the phase of the drive signal. The drive voltagesupply 112 may also include an adaptive gain control of controls theamplitude of the drive signal. The drive supply voltage also supplies ademodulation signal to a delay compensation circuit 118. Thedemodulation signal is a signal with a same phase as the drive signal,unless drift has occurred.

The drive electrodes 106 receive the drive signal from the drive voltagesupply 112 and apply an electrostatic drive force to the resonator mass104. The electrostatic drive force drives the resonator mass 104 tooscillate along the drive axis. The resonator mass 104 oscillates inaccordance with a mechanical transfer function.

The drive MEMS/ASIC 150 includes drive sense electrodes 156 that convertthe motion of the resonator mass 104 into a capacitive signal. Thecapacitive signal is passed to a converter that converts the capacitivesignal to a voltage signal. The voltage signal is fed back into thedrive voltage supply 112 in a feedback loop configuration so that thephase locked loop and adaptive gain control loop can control the phaseand amplitude of the drive signal.

The displacement in the drive direction affects the sense MEMS/ASIC 152.The drive displacement and the rotational rate Ω interact to generatethe Coriolis force based on the drive displacement velocity of theresonator mass 104 and the rotational rate Ω around the rotation axis.The displacement of the resonator mass 104 also interacts via springcouplings Kxy 164 to generate a quadrature force in the sense direction.The displacement of the resonator mass 104 also interacts with thequadrature compensation electrodes 110 in generating the quadraturecompensation force. The quadrature compensation driver 114 applies thequadrature test signal to the quadrature compensation electrodes 110.

The conceptual block 168 represents the summation of all of the forcesacting in the sense direction on the sense resonator mass 160. TheCoriolis force, the quadrature force, and the quadrature compensationforce all affect the motion of the sense resonator mass 160 along thesense axis. The sense resonator mass is coupled to the resonator mass104 by springs. Though shown as separate masses in FIG. 11 , in somecases, the sense resonator mass 160 and the resonator mass 140 are asingle mass, or may effectively act as a single spring coupled mass.

Sense electrodes 108 sense the motion of the of the sense resonator mass160 along the sense axis. The sense electrodes 108 generate a capacitivesignal indicative of the motion of the sense resonator mass 160 alongthe sense axis. The capacitive signal is converted at block 170 to asense voltage signal corresponding to the raw output signal of thegyroscope 102. The raw output signals provided to the demodulator 120.

The drive voltage supply 112 supplies a demodulated signal to the delaycompensation block 118. The demodulated signal corresponds to a drivereference signal. Initially, the delay compensation block 118 may notadd any delay into the demodulation signal. The delay compensation block118 merely passes the demodulation signal to the demodulator 120. Duringthe testing phase, and the quadrature compensation driver 114 applies atest signal to the quadrature compensation electrodes, switchingpolarities between first and second phases as described previously. Thedemodulator 120 demodulates the demodulation signal and the raw outputsignal and generates a demodulated signal. An output block 126 mayperform some additional processing on the demodulated signal. The outputblock 126 provides the demodulated signal to the delay calculator 116.The delay calculator 116 calculates the phase drifting φ as describedpreviously and provides the phase drift angle value to the delaycompensation circuit 118. The delay compensation circuit delays thedemodulation signal by the value of φ. The demodulator 120 then outputsa demodulated signal that accurately corresponds to the rotational rateΩ.

FIG. 12 is a flow diagram of a method 1200 for operating a gyroscope, inaccordance with some embodiments. At 1202, the method 1200 includesdriving a resonator mass of a gyroscope in a first direction by applyinga drive signal to a drive electrode. At 1204, the method 1200 includesapplying a test voltage to a quadrature compensation electrode adjacentto the resonator mass. At 1206, the method 1200 includes determining aphase difference between a first drive reference signal and an outputsignal of the gyroscope based on a change in the output signal duringapplication of the test voltage. At 1208, the method 1200 includescompensating for the phase difference between the demodulation signaland the output signal of the gyroscope.

In some embodiments, a method includes driving a resonator mass of agyroscope in a first direction by applying a first drive signal to adrive electrode and applying a test voltage to a quadrature compensationelectrode adjacent to the resonator mass. The method includesdetermining a phase difference between a first drive reference signaland an output signal of the gyroscope based on a change in the outputsignal during application of the test voltage and compensating for thephase difference between the drive signal and the output signal of thegyroscope.

In some embodiments, a device includes a gyroscope and a demodulatorhaving a first input coupled to the gyroscope, a second input, and anoutput. The device includes delay calculator coupled to an output of thedemodulator and a delay compensation circuit coupled to the delaycalculator and the second input of the demodulator.

In some embodiments, a gyroscope sensor unit includes a quadraturedriver configured to output a quadrature test signal and a sensorelectrode configured to generate a raw output signal. The gyroscopicsensor unit includes a demodulator configured to receive the raw outputsignal and a drive reference signal and to generate a demodulated signalbased on the drive reference signal and the raw output signal. Thegyroscopic sensor unit includes a delay calculator configured tocalculate a phase drift value between the demodulated signal and thedrive reference signal based on changes in the demodulated signal duringoutput of the quadrature test signal.

Various embodiments described above can be combined to provide furtherembodiments. These and other changes can be made to the embodiments inlight of the above-detailed description. In general, in the followingclaims, the terms used should not be construed to limit the claims tothe specific embodiments disclosed in the specification and the claims,but should be construed to include all possible embodiments along withthe full scope of equivalents to which such claims are entitled.Accordingly, the claims are not limited by the disclosure.

1. A device, comprising: a gyroscope; and a quadrature compensation driver coupled to the gyroscope, the quadrature compensation driver configured to apply a test signal to the gyroscope, the test signal includes a first phase with a first polarity and a second phase with a second polarity reverse of the first polarity.
 2. The device of claim 1, further comprising: a demodulator coupled to the gyroscope; and a delay calculator coupled to the demodulator.
 3. The device of claim 2, further comprising a delay compensation circuit coupled to the delay calculator and the demodulator.
 4. The device of claim 3, further comprising a drive voltage supply coupled to the gyroscope and the delay compensation circuit.
 5. The device of claim 4, wherein the drive voltage supply is configured to provide a first drive voltage to the gyroscope and a first drive reference signal to the delay compensation circuit, the delay compensation circuit is configured to provide the first drive reference signal to a first input of the demodulator, and the delay calculator is configured to calculate a phase difference value between an output signal of the demodulator and the first drive reference signal during application of the test signal to the gyroscope.
 6. The device of claim 5, wherein a second input of the demodulator is coupled to the gyroscope.
 7. The device of claim 5, wherein the delay compensation circuit is configured to delay the first drive reference signal by the phase difference value to generate a second drive reference signal.
 8. The device of claim 7, wherein the gyroscope includes sense electrodes configured to generate a raw output signal.
 9. The device of claim 7, wherein the delay calculator calculates the phase difference value based on a difference in the output signal of the demodulator between first phase and the second phase.
 10. A method, comprising: driving a resonator mass of a gyroscope in a first direction by applying a first drive signal to a drive electrode; applying a test voltage to a quadrature compensation electrode adjacent to the resonator mass; determining a phase difference between a first drive reference signal and an output signal of the gyroscope based on a change in the output signal during application of the test voltage; generating a raw output signal from the gyroscope; generating the output signal by performing coherent demodulation between the raw output signal and a second drive reference signal based on the first drive reference signal; and compensating for the phase difference between the first drive reference signal and the output signal of the gyroscope, and compensating for the phase difference includes generating the second drive reference signal by delaying the first drive reference signal by the phase difference.
 11. The method of claim 10, wherein the raw output signal represents oscillation of the resonator mass in a second direction transverse to the first direction.
 12. The method of claim 11, wherein the output signal corresponds to a component of the raw output signal representing rotation of the resonator mass around a third direction transverse to the first direction and the second direction.
 13. The method of claim 10, wherein determining the phase difference includes determining a test component of a quadrature component of the output signal.
 14. The method of claim 13, wherein determining the phase difference further includes dividing the change by double the test component.
 15. A method, comprising: when oscillating a resonator mass by driving the resonator mass, applying a test voltage to a quadrature compensation electrode adjacent to the resonator mass; and reversing polarity of the test voltage during application of the test voltage to the quadrature compensation electrode.
 16. The method of claim 15, wherein reversing the polarity of the test voltage during the application of the test voltage to the quadrature compensation electrode further includes: applying a first test voltage with a first polarity and a magnitude; and applying a second test voltage with a second polarity and the magnitude, the second polarity being reverse to the first polarity.
 17. The method of claim 15, further includes measuring an output signal of the gyroscope before and after reversing the polarity of the test voltage.
 18. The method of claim 17, further comprises: determining a test component of a quadrature component of the output signal; and determining a change in the output signal after reversing the polarity of the test voltage.
 19. The method of claim 18, further comprises dividing the change in the output signal after reversing the polarity of the test voltage.
 20. The method of claim 19, wherein the test component corresponds to a portion of the quadrature component resulting from the test voltage. 